Flexible mechanical hand

Abstract

The invention discloses a flexible mechanical hand which comprises a connection column with a hollow cavity, a total air inlet formed in the connection column, a connection plate arranged at one end of the connection column and at least two finger mechanisms. Each finger mechanism comprise a finger face, a finger back, a first cavity arranged between the finger face and the finger back, at least one semicircular arch body arranged on the finger back, a second cavity formed in the semicircular arch body and communicating with the first cavity, and a convex portion which is convexly arranged onthe other side of the finger face and provided with the lower surface being an inclined face, wherein the swelling deformation of the finger back is larger than that of the finger face. Each finger mechanism further comprises a connecting piece connected to the root of the corresponding finger, a third cavity arranged in the connecting piece and communicating with the first cavity, an air inlet formed in the connecting piece, an air outlet formed in the connection column and communicating with the air inlet, a sliding groove formed in the connecting piece, and a sliding rail arranged on the connecting plate and used for penetrating into the sliding groove. The flexible mechanical hand is large in grabbing force and capable of gabbing objects with different sizes.

Description

technical field [0001] The invention relates to a flexible manipulator. Background technique [0002] In the field of industrial automation, mechanical claws for grabbing objects in cooperation with mechanical arms are widely used. Due to the large grasping force of rigid fingers, most robotic grippers are composed of rigid fingers. However, rigid fingers are difficult to achieve lossless grasping of soft objects, and flexible fingers are required to achieve it. And flexible finger, the frictional force of its contact surface with article is less, in the process of clamping, often the phenomenon that article falls off takes place. [0003] Due to the different specifications and sizes of items, it is necessary to use mechanical claws of different specifications for grasping, and the cost is high. Contents of the invention [0004] The purpose of the present invention is to provide a flexible manipulator, which can greatly increase the friction force when grabbing items,...

AI Technical Summary

Problems solved by technology

However, rigid fingers are difficult to achieve non-destructive grasping of soft objects, and flexible fingers are needed to achieve

However, the friction between the flexible finger and the contact surface of the object is small, and the object often falls off during the gripping process.

[0003] Due to the different specifications and sizes of items, it is necessary to use mechanical claws of different specifications for grasping, and the cost is high

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